Emergency drone guidance device

ABSTRACT

Techniques are described for configuring a monitoring system to assist users during a detected emergency condition at a property. In some implementations, sensor data from one or more sensors that are located at the property are obtained by a monitoring system that is configured to monitor the property. A determination that there is an emergency condition at the property is made by the monitoring system based on the sensor data, determining. A location of a person inside the property is determined by the monitoring system based on the sensor data. A first path to the person and a second path to guide the person away from the emergency condition are determined by the monitoring system. The first path to the person and the second path to guide the person away from the emergency condition are navigated by a computing device of the monitoring system.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional PatentApplication No. 62/444,421, filed on Jan. 10, 2017 and titled “EMERGENCYDRONE GUIDANCE DEVICE,” which is incorporated herein by reference in itsentirety.

TECHNICAL FIELD

This disclosure relates to home monitoring technology.

BACKGROUND

Property monitoring systems often include sensors and devices that worktogether to detect conditions such as smoke, fire, carbon monoxides orother emergencies. Detections of emergencies that are present are thenused to warn people through visual and audio appliances. Alarms may beactivated automatically from smoke detectors or heat detectors, or mayalso be activated via manual alarm activation devices such as manualcall points or pull stations.

SUMMARY

Techniques are described for using a monitoring system to assist usersduring a detected emergency condition at a property. For example, inresponse to a monitoring system detecting a fire within a property, adrone device may determine a location of a user who presently occupiesthe property, and navigate towards the location of the user. The dronedevice may also determine an optimal exit path that allows a user toquickly exit the property. For example, the drone device may use sensordata obtained from the monitoring system of the property and/or on-boardsensor data to identify obstructions within the property in order todetermine exit paths that avoid the identified obstructions and presentminimal safety risks to the user.

In some implementations, the drone device includes various emergencymonitoring and communication features. For example, the drone device maybe capable of measuring biometric parameters to determine the user'scurrent state of health. The drone device may also be capable ofgenerating alarm events in response to detecting acute healthemergencies from the user's current state of health, or an emergencycondition detected by the monitoring system of the property. In otherexamples, the drone device is capable of updating the alarm status ofthe property determined by the monitoring system, initiating andtransmitting alarm notifications to a central monitoring station, and/orcapturing video or audio of all events relating to alarm signalmanagement.

In one general aspect, a system includes one or more computers, and oneor more storage devices storing instructions that, when executed by theone or more computers, cause the one or more computers to performoperations. The operations can include: obtaining, by a monitoringsystem that is configured to monitor a property, sensor data from one ormore sensors that are located at the property; based on the sensor data,determining, by the monitoring system, that there is an emergencycondition at the property; in response to determining that there is anemergency condition at the property, determining, by the monitoringsystem and based on the sensor data, a location of a person inside theproperty; based on the sensor data, the location of the person insidethe property, and on characteristics of the property, determining, bythe monitoring system, a first path to the person and a second path toguide the person away from the emergency condition; and navigating, by acomputing device of the monitoring system, the first path to the personand the second path to guide the person away from the emergencycondition.

One or more implementations can include the following optional features.For example, in some implementations, obtaining the sensor data from oneor more sensors that are located at the property includes obtainingsensor data representing a physical environment of the property duringthe emergency condition. In such implementations, determining the secondpath to guide the person away from the emergency condition furtherincludes the following operations: identifying multiple candidate exitpaths based on the physical environment of the property during theemergency condition; determining one or more path metrics associatedwith each of the multiple candidate exit paths; and selecting, based onthe determined path metrics, a particular candidate exit path from amongthe multiple candidate exit paths as the second path.

In some implementations, each of the multiple candidate exit paths leadto a same exit of the property.

In some implementations, determining the one or more path metricsincludes determining a path metric representing a distance of acandidate exit path. In such implementations, the selected candidateexit path has the smallest distance from among the multiple candidateexit paths.

In some implementations, determining the one or more path metricsincludes determining a path metric representing a number of obstructionsdetected along a particular candidate exit path. In suchimplementations, the selected candidate exit has the lowest number ofobstructions from among the multiple candidate exit paths.

In some implementations, determining the one or more path metricsincludes determining a path metric representing an estimated time toexit the property by navigating a particular candidate exit path. Insuch implementations, the selected candidate exit path has the smallestestimated time to exit the property by navigating the selected candidateexit path.

In some implementations, identifying the multiple candidate exit pathsbased on the physical environment of the property during the emergencycondition includes identifying a first candidate exit path and a secondcandidate exit path. In such implementations, determining the one ormore path metrics associated with each of the multiple candidate exitpaths includes performing operations for each of the first and secondcandidate exit paths: determining a first path metric representing adistance of a particular candidate exit path, and determining a secondpath metric representing a number of obstructions detected along aparticular candidate exit path. The operations additionally includedetermining that the first path metric for the second candidate exitpath represents a shorter distance than the first path metric for thefirst candidate exit path; determining that the second path metric forthe first candidate exit path represents a lower number of obstructionsdetected along the second candidate exit path than the second pathmetric for the second candidate exit path; and based on determining thatthe second path metric for the first candidate exit path represents alower number of obstructions detected along the first candidate exitpath than the second path metric for the second candidate exit path,selecting the first candidate exit path as the second path to guide theperson away from the emergency condition.

In some implementations, identifying the multiple candidate exit pathsbased on the physical environment of the property during the emergencycondition includes identifying a first candidate exit path and a secondcandidate exit path. In such implementations, determining the one ormore path metrics associated with each of the multiple candidate exitpaths includes performing operations for each of the first and secondcandidate exit paths: determining a first path metric representing adistance of a particular candidate exit path, and determining a secondpath metric representing a number of obstructions detected along aparticular candidate exit path. Additionally, the operations can furtherinclude: determining a third path metric representing an estimated timeto exit the property by navigating a particular candidate exit path;determining that the first path metric for the second candidate exitpath represents a shorter distance than the first path metric for thefirst candidate exit path; determining that the second path metric forthe first candidate exit path represents a lower number of obstructionsdetected along the second candidate exit path than the second pathmetric for the second candidate exit path; determining that the thirdpath metric for the first candidate exit path represents a shorterestimated time to exit the property by navigating the first candidateexit path than the third path metric for the second candidate exit path;and selecting the first candidate exit path as the second path to guidethe person away from the emergency condition based on (i) determiningthat the second path metric for the first candidate exit path representsa lower number of obstructions detected along the first candidate exitpath than the second path metric for the second candidate exit path and(ii) determining that the third path metric for the first candidate exitpath represents a shorter estimated time to exit the property bynavigating the first candidate exit path than the third path metric forthe second candidate exit path.

In some implementations, the operations further include: determining, bythe monitoring system, that the first path is not safe for the person tonavigate during the emergency condition; and determining, by themonitoring system, that the second path is safe for the person tonavigate during the emergency condition.

In some implementations, the computing device is a drone device.

In some implementations, the operations further include determining thecharacteristics of the property based on a three-dimensional spatialrepresentation of the property. In such implementations, thethree-dimensional spatial representation of the property identifies atleast locations of doors of the property and locations of windows of theproperty.

Implementations of the described techniques may include hardware, amethod or process implemented at least partially in hardware, or acomputer-readable storage medium encoded with executable instructionsthat, when executed by a processor, perform operations.

The details of one or more implementations are set forth in theaccompanying drawings and the description below. Other features will beapparent from the description and drawings.

DESCRIPTION OF DRAWINGS

FIG. 1 illustrates a block diagram of an example of a system that iscapable of using a drone device to guide a user outside a propertyduring an emergency condition within the property.

FIG. 2 illustrates an example of a process for guiding a user outside aproperty during an emergency condition within the property.

FIG. 3 illustrates a top view of a property where a drone navigates to apath to the user and an exit path during an emergency condition withinthe property.

FIG. 4 illustrates an example of a process for determining a path toguide a user away from an emergency condition at a property.

DETAILED DESCRIPTION

In general, techniques are described for using a drone device to assistusers during a detected emergency condition at a property. For example,in response to a monitoring system detecting a fire within a property, adrone device may determine a location of a user that presently occupiesthe property, and navigate towards the location of the user. The dronedevice may also determine an optimal exit path that allows a user toquickly exit the property. For example, the drone device may use sensordata obtained from the monitoring system of the property and/or on-boardsensor data to identify obstructions within the property in order todetermine exit paths that avoid the identified obstructions and presentminimal safety risks to the user.

In some implementations, the drone device includes various emergencymonitoring and communication features. For example, the drone device maybe capable of measuring biometric parameters to determine the user'scurrent state of health. The drone device may also be capable ofgenerating alarm events in response to detecting acute healthemergencies from the user's current state of health, or an emergencycondition detected by the monitoring system of the property. In otherexamples, the drone device is capable of updating the alarm status ofthe property determined by the monitoring system, initiating andtransmitting alarm notifications to a central monitoring station, and/orcapturing video or audio of all events relating to alarm signalmanagement.

The drone device may include features that enable the drone device tointeract with a user who presently occupies the property during adetected emergency condition. For instance, the drone device may becapable of receiving a user query related to the property, and inresponse, parse a collection of stored property information to providean output responsive to the user query (e.g., speech output, textualdisplay, projection display, etc.). In some instances, the drone devicemay be capable of dynamically adjusting preconfigured system actions tobe performed based on user input received while assisting the userduring a detected emergency condition at the property. In this regard,the drone device may be capable to customizing the actions to beperformed in response to a detected emergency condition based on thespecific conditions of the property and/or the needs of the user.

As described throughout, an “emergency condition” refers to any type ofdetected condition within the property that triggers an alarm and/orsecurity signal by a monitoring system of the property. Examples ofdetected emergency conditions include excessive heat detected by a heatdetector or smoke detected by a smoke detector indicating a potentialfire within the property, high amounts of carbon monoxide detected by acarbon monoxide detector indicating potential air toxicity within theproperty, an intrusion detected by motion sensors indicating a securitybreach within the property, among others. An emergency condition may bedetected by any suitable component of a monitoring system within aproperty. In some instances, the emergency condition is detected locallyby a component located within the property (e.g., a monitor controlunit, a sensor, or an appliance). Additionally, or alternatively, theemergency condition can also be detected remotely by a centralmonitoring station that exchanges data communications with a monitorcontrol unit placed within a property.

As described throughout, a “user” (or an “occupant”) refers to anindividual that presently occupies a property when an emergencycondition is detected within the property. For example, a user can be along-term user associated with the property (e.g., a tenant, a propertyowner, etc.), a short-term guest that visits the property, or any othertype of individual that may be located within the property for a periodof time. In some instances, a user can be an individual who is predictedto be in the property based on the information available to a monitoringsystem but is not actually in the property when the emergency conditionis detected. For example, a monitoring system may predict that the userpresently occupies the property based on his/her most recent activityeven though he/she has since left the property.

FIG. 1 illustrates an example of a system 100 that is capable of using adrone device to guide a user outside a property during an emergencycondition at the property. The system 100 includes a monitor controlunit 110, a drone device 120, sensors 132, appliances 134, user devices140, 150, and a central monitoring station 160 connected over a network105 within a property.

In general, the system 100 uses the drone device 120 to provideassistance to a user that occupies a property when an emergencycondition is detected within the property. For example, in response toobtaining data indicating a detected emergency condition, the dronedevice 120 may identify a location of the user within the property. Thedrone device 120 may also determine a path to the location of the user,and an exit path from the location of the user to a suitableentrance/exit of the property. The drone device 120 may then navigate tothe location of the user within the property. Once the drone device 120reaches the user's location, the drone device 120 may guide the userthrough an exit path to safely navigate through and exit the property.

Referring now to the components of system 100, the network 105 isconfigured to enable exchange of electronic communications betweendevices connected to the network 105. For example, the network 105 maybe configured to enable exchange of electronic communications betweenthe monitor control unit 110, the drone device 120, the sensors 132, theappliances 134, the user devices 140, 150, and the central monitoringstation 160.

The network 105 may include, for example, one or more of the Internet,Wide Area Networks (WANs), Local Area Networks (LANs), analog or digitalwired and wireless telephone networks (e.g., a public switched telephonenetwork (PSTN), Integrated Services Digital Network (ISDN), a cellularnetwork, and Digital Subscriber Line (DSL)), radio, television, cable,satellite, or any other delivery or tunneling mechanism for carryingdata. Network 105 may include multiple networks or subnetworks, each ofwhich may include, for example, a wired or wireless data pathway.

The network 105 may include a circuit-switched network, apacket-switched data network, or any other network able to carryelectronic communications (e.g., data or voice communications). Forexample, the network 105 may include networks based on the Internetprotocol (IP), asynchronous transfer mode (ATM), the PSTN,packet-switched networks based on IP, X.25, or Frame Relay, or othercomparable technologies and may support voice using, for example, VoIP,or other comparable protocols used for voice communications. The network105 may include one or more networks that include wireless data channelsand wireless voice channels. The network 105 may be a wireless network,a broadband network, or a combination of networks including a wirelessnetwork and a broadband network.

The monitor control unit 110 includes a controller 112 and a networkmodule 114. The controller 112 is configured to control a monitoringsystem (e.g., a home alarm or security system) that includes the dronedevice 120. In some examples, the controller 112 may include a processoror other control circuitry configured to execute instructions of aprogram that controls operation of an alarm system. In these examples,the controller 112 may be configured to receive input from sensors,detectors, or other devices included in the alarm system and controloperations of devices included in the alarm system or other householddevices (e.g., a thermostat, an appliance, lights, etc.). For example,the controller 112 may be configured to control operation of the networkmodule 114 included in the drone device 120.

The network module 114 is a communication device configured to exchangecommunications over the network 105. The network module 114 may be awireless communication module configured to exchange wirelesscommunications over the network 105. For example, the network module 114may be a wireless communication device configured to exchangecommunications over a wireless data channel and a wireless voicechannel. In this example, the network module 114 may transmit alarm dataover a wireless data channel and establish a two-way voice communicationsession over a wireless voice channel. The wireless communication devicemay include one or more of a LTE module, a GSM module, a radio modem,cellular transmission module, or any type of module configured toexchange communications in one of the following formats: LTE, GSM orGPRS, CDMA, EDGE or EGPRS, EV-DO or EVDO, UMTS, or IP.

The network module 114 also may be a wired communication moduleconfigured to exchange communications over the network 105 using a wiredconnection. For instance, the network module 114 may be a modem, anetwork interface card, or another type of network interface device. Thenetwork module 114 may be an Ethernet network card configured to enablethe drone device 120 to communicate over a local area network and/or theInternet. The network module 114 also may be a voice band modemconfigured to enable the alarm panel to communicate over the telephonelines of Plain Old Telephone Systems (POTS).

The drone device 120 may be an unmanned device that is capable ofmovement through a property to assist a user that is presently locatedwithin property during a detected emergency condition. For example, thedrone device 120 may be capable of moving throughout a property based onautomated control technology and/or input control provided by either theuser or by the central monitoring station 160. In such an example, thedrone device 120 may be able to fly, roll, walk, or otherwise move aboutthe property.

The drone device 120 may include helicopter type devices (e.g., quadcopters), rolling helicopter type devices (e.g., roller copter devicesthat can fly and also roll along the grounds, walls, or ceiling), landvehicle type devices (e.g., automated cars that drive around aproperty), and plane type devices (e.g., unmanned aircraft). In someinstances, the drone device 120 may be robotic devices that are intendedfor other purposes and merely associated with the system 100 for use inappropriate circumstances. For instance, a security drone may beassociated with the system 100 as the drone device 120 and may becontrolled to take action responsive to system events.

The drone device 120 can be configured to automatically navigate withina property. For instance, the drone device 120 may include sensors andcontrol processors that guide movement of the drone device 120 withinthe property. The drone device 120 may navigate within the propertyusing one or more cameras, one or more proximity sensors, one or moregyroscopes, one or more accelerometers, one or more magnetometers, aglobal positioning system (GPS) unit, an altimeter, one or more sonar orlaser sensors, and/or any other types of sensors that aid in navigationabout a space. The drone device 120 may include control processors thatprocess output from the various sensors and control the drone device 120to move along a path that reaches the desired destination and avoidsobstacles. In this regard, the control processors detect walls or otherobstacles in the property and guide movement of the drone device 120 ina manner that avoids the walls and other obstacles.

In addition, the drone device 120 may store data that describesattributes of the property. For instance, the drone device 120 may storea floorplan and/or a three-dimensional model of the property thatenables the drone device 120 to navigate the property. During initialconfiguration, the drone device 120 may receive the data describingattributes of a property, determine a frame of reference to the data(e.g., a home or reference location in the property), and navigate aproperty based on the frame of reference and the data describingattributes of a property.

Further, initial configuration of the drone device 120 also may includelearning of one or more navigation patterns in which a user or a systemadministrator provides input to control the drone device 120 to performa specific navigation action (e.g., fly to an upstairs bedroom and spinaround while capturing video and then return to a home charging base).In this regard, the drone device 120 may learn and store the navigationpatterns such that the drone device 120 may automatically repeat thespecific navigation actions when instructed to assist a user during adetected emergency condition at the property.

In some implementations, the drone device 120 may include data captureand recording devices. In these examples, the drone device 120 mayinclude one or more cameras, one or more motion sensors, one or moremicrophones, one or more biometric data collection tools, one or moretemperature sensors, one or more humidity sensors, one or more air flowsensors, and/or any other types of sensors that may be useful incapturing monitoring data related to the property and users in theproperty.

In some implementations, the drone device 120 may include outputdevices. In these implementations, the drone device 120 may include oneor more displays, one or more speakers, one or more projectors, and/orany type of output devices that allow the drone device 120 tocommunicate information to a nearby user. The one or more projectors mayinclude projectors that project a two-dimensional image onto a surface(e.g., wall, floor, or ceiling) and/or holographic projectors thatproject three-dimensional holograms into a nearby space.

The drone device 120 also may include a communication module thatenables the drone device 120 to communicate other devices of the system100. The communication module may be a wireless communication modulethat allows the drone device 120 to communicate wirelessly. Forinstance, the communication module may be a Wi-Fi module that enablesthe drone device 120 to communicate over a local wireless network at theproperty. The communication module further may be a 900 MHz wirelesscommunication module that enables the drone device 120 to communicatedirectly with the monitor control unit 110. Other types of short-rangewireless communication protocols, such as Bluetooth, Bluetooth LE,Z-wave, ZigBee, etc., may be used to allow the drone device 120 tocommunicate with other devices in the property.

The drone device 120 further may include processor and storagecapabilities. The drone device 120 may include any suitable processingdevices that enable the drone device 120 to operate applications andperform the actions described throughout this disclosure. In addition,the drone device 120 may include solid state electronic storage thatenables the drone device 120 to store applications, configuration data,collected sensor data, and/or any other type of information available tothe drone device 120.

The drone device 120 may be associated with a charging station 121. Thecharging station 121 may be located at a predefined or referencelocation within a property. The drone device 120 may be configured tonavigate to the charging station 121 after successfully navigating theuser through an exit path outside of the property. For instance, aftercompleting the navigation through the exit path or upon instruction bythe monitor control unit 110, the drone device 120 may be configured toautomatically fly to and land on one of the charging station 121. Inthis regard, the drone device 120 may automatically maintain a fullycharged battery in a state in which the drone device 120 are ready foruse by the system 100.

The charging station 121 may be a contact-based charging stations and/orwireless charging stations. For contact based charging stations, thedrone device 120 may have readily accessible points of contact that thedrone device 120 are capable of positioning and mating with acorresponding contact on the charging station 121. For instance, ahelicopter type robotic device may have an electronic contact on aportion of its landing gear that rests on and mates with an electronicpad of a charging station 121 when the helicopter type robotic devicelands on the charging station 121. The electronic contact on the roboticdevice may include a cover that opens to expose the electronic contactwhen the robotic device is charging and closes to cover and insulate theelectronic contact when the robotic device is in operation.

For wireless charging stations, the drone device 120 may charge througha wireless exchange of power. In these cases, the drone device 120 needonly locate themselves closely enough to the wireless charging stationsfor the wireless exchange of power to occur. In this regard, thepositioning needed to land at a predefined home base or referencelocation in the property may be less precise than with a contact-basedcharging station. Based on the drone device 120 landing at a wirelesscharging station, the wireless charging station outputs a wirelesssignal that the drone device 120 receive and convert to a power signalthat charges a battery maintained on the drone device 120.

As described above, the drone device 120 may exchange communicationswith the monitor control unit 110, the sensors 132, the appliances 134,the user devices 140, 150, and the central monitoring station 160 overthe network 105 or any other suitable communication means. For example,the drone device 120 may utilize a wireless data pathway 122 configuredto transmit signals from the monitor control unit 110, the sensors 132,the appliances 134, the user devices 140, 150, and the centralmonitoring station 160 to a controller 112. The monitor control unit110, the sensors 132, the appliances 134, the user devices 140, 150, andthe central monitoring station 160 may continuously transmit sensedvalues to the controller 112, periodically transmit sensed values to thedrone device 120, or transmit sensed values to the drone device 120 inresponse to a change in a sensed value.

In some implementations, the drone device 120 may additionally be usedto perform routine surveillance operations on a property. For instance,the drone device 120 may be assigned to one or more particularproperties within a geographic location and may routinely collectsurveillance footage during specified time periods (e.g., after dark),which may then be transmitted to the central monitoring station 160 fortransmitting back to each particular property owner. In suchimplementations, the property owner may receive the surveillance footageover the network 105 as a part of a service provided by a securityprovider that operates the central monitoring station 160. For example,transmissions of the surveillance footage collected by the drone device120 may be part of a premium security service package provided by asecurity provider in addition to the routine drone emergency responseservice.

In some implementations, the drone device 120 may monitor the operationof the monitor control unit 110, the sensors 132, the appliances 134,the user devices 140, 150, and/or the central monitoring station 160.For instance, the drone device 120 may enable or disable the deviceslocated within a property based on a set of rules associated with energyconsumption, user-specified settings, and/or other informationassociated with conditions prior to, during, or after navigation throughthe exit path.

In some implementations, the drone device 120 may be used as areplacement to a traditional security panel (e.g., the monitor controlunit 110) that is used to monitor and control the operations of thesystem 100. In other examples, the drone device 120 may coordinatemonitoring operations with a separate security panel of the system 100.In such examples, the drone device 120 may monitor particular activitiesof the devices of the system 100 that are not monitored by the securitypanel, or monitor the operation of particular devices that are notmonitoring by the security panel.

In some implementations, the drone device 120 is configured and managedby a service provider entity associated with the central monitoringstation 160. In such implementations, the drone device 120 may beprovided as device component of the system 100 when the sensors 132and/or the monitor control unit 110 is installed within a property.Alternatively, in other implementations, the drone device 120 may be anafter-market device that is configured to exchange data communicationswith components of the system 100 (e.g., the monitor control unit 110,the sensors 132, and/or the appliances 134) when the system 100 isalready installed within the property. In this regard, the drone device120 may be a device from the system 100 this is configured to performthe operations described throughout.

The system 100 also includes one or more sensors or detectors. Forexample, the system 100 may include multiple sensors 132. The sensors132 may include a contact sensor, a motion sensor, a glass break sensor,or any other type of sensor included in an alarm system or securitysystem. The sensors 132 also may include an environmental sensor, suchas a temperature sensor, a water sensor, a rain sensor, a wind sensor, alight sensor, a smoke detector, a carbon monoxide detector, an airquality sensor, etc. The sensors 132 further may include a healthmonitoring sensor, such as a prescription bottle sensor that monitorstaking of prescriptions, a blood pressure sensor, a blood sugar sensor,a bed mat configured to sense presence of liquid (e.g., bodily fluids)on the bed mat, etc. In some examples, the sensors 132 may include aradio-frequency identification (RFID) sensor that identifies aparticular article that includes a pre-assigned RFID tag.

In some implementations, the sensors 132 may include one or morecameras. The cameras may be video/photographic cameras or other type ofoptical sensing devices configured to capture images. For instance, thecameras may be configured to capture images of an area within a buildingmonitored by the monitor control unit 110. The cameras may be configuredto capture single, static images of the area and also video images ofthe area in which multiple images of the area are captured at arelatively high frequency (e.g., thirty images per second). The camerasmay be controlled based on commands received from the monitor controlunit 110.

The appliances 134 may be home automation devices connected to thenetwork 105 that are configured to exchange electronic communicationswith other devices of the system 100. The appliances 134 may include,for example, connected kitchen appliances, controllable light sources,safety and security devices, energy management devices, and/or othertypes of electronic devices capable of exchanging electroniccommunications over the network 105. In some instances, the appliances134 may periodically transmit information and/or generated data to themonitor control unit 110 such that the monitor control unit 110 canautomatically control the operation of the appliances 134 based on theexchanged communications. For example, the monitor control unit 110 mayoperate one or more of the appliances 134 based on a fixed schedulespecified by the user. In another example, the monitor control unit 110may enable or disable one or more of the appliances 134 based onreceived sensor data from the sensors 132.

The user devices 140, 150 may be any type of personal electroniccomputing device that is associated with users that reside within aproperty (e.g., a tenant, temporary visitor, guest, etc.). The userdevices 140, 150 may be one or more of a cellular telephone, smartphone,a tablet computing device, a laptop computing device, a desktopcomputing device, a wearable device, or any other type ofnetwork-enabled electronic device.

The user devices 140, 150 may include native applications 142 and 152that enable communications with devices located within a propertythrough the central monitoring station 160. The native applications 142,152 refer to software/firmware programs running on the user devices 140,150 that enable various features. For instance, the user devices 140,150 may load or install the native application based on data receivedover a network 105 or data received from local media. The nativeapplications 142, 152 may run on mobile devices' platforms, such asApple iOS, iPhone, iPod touch, Blackberry, Google Android, WindowsMobile, etc.

In some implementations, the native applications 142, 152 of the userdevices 140, 150 identify a geographic location associated with the userdevices 140, 150 and communicate information identifying the geographiclocation. For example, the user devices 140, 150 having the nativeapplications 142, 152 may determine a geographic location of the userdevices 140, 150 using GPS capabilities, and may communicate dataidentifying the geographic location to the central monitoring station160. In some instances, the native application may check the location ofthe user devices 140, 150 periodically and may detect when a user ispresently located inside or outside a property. Location data associatedwith the user devices 140, 150 can then be used by the drone device 120to determine the region of the property where the user is located duringan emergency incident within the property.

Additionally, or alternatively, the user devices 140, 150 maycommunicate with the monitor control unit 110 and/or the drone device120 using various local wireless protocols, such as Wi-Fi, Bluetooth,Z-Wave, ZigBee, Home Plug, HPAV, HPAV2, G.hn (Ethernet over power line),or wired protocols such as Ethernet, USB, and other wired protocolsbased on the RS232, RS485, and/or RS422 standards.

The central monitoring station 160 may be an electronic deviceconfigured to provide monitoring services by exchanging electroniccommunications with the monitor control unit 110, the drone device 120,the sensors 132, the appliances 134, and the user devices 140, 150 overthe network 105.

The central monitoring station 160 may be configured to monitor events(e.g., alarm events, emergency conditions, etc.) generated by themonitor control unit 110 and/or the drone device 120. For example, thecentral monitoring station 160 may exchange electronic communicationswith the network module 114 included in the monitor control unit 110 toreceive information regarding events (e.g., fire, carbon monoxide)detected by the monitor control unit 110. The central monitoring station160 also may receive information regarding events (e.g., alarm events)from the drone device 120.

The central monitoring station 160 may store sensor and image datareceived from the system 100 and perform analysis of sensor and imagedata received from the system 100. Based on the analysis, the centralmonitoring station 160 may communicate with and control aspects of themonitor control unit 110 or the one or more user devices 140, 150.

FIG. 2 illustrates an example of a process 200 for guiding a useroutside a property during an emergency condition within the property.The process 200 may include obtaining data indicating a presentemergency condition within a property (210), obtaining data associatedwith the property (220), obtaining data indicating a location of a userof the property (230), determining a path to the user and an exit pathto guide the user outside the property (240), and navigating the path tothe user and the exit path (250).

In more detail, the process 200 may include obtaining data indicating apresent emergency condition within a property (210). For instance, thedrone device 120 may obtain data indicating an emergency conditionwithin a property from the monitor control unit 110. As described above,an emergency condition can be detected based on sensor data collected byone or more of the sensors 132 (e.g., excessive smoke detected by asmoke sensor, excessive heat detected by a heat sensor, toxic levels ofcarbon monoxide detected by a carbon monoxide sensor, and/orunauthorized motion detected by a motion sensor). In someimplementations, instead of routing collected sensor data through themonitor control unit 110, the drone device 120 may obtain collectedsensor data directly from the sensors 132 over, for example, the network105.

In some implementations, instead of obtaining data indicating a presentemergency condition within the property, the drone device 120 can detectthe emergency condition based on data collected by on-board sensors thatare not included within the sensors 132. For example, the drone device120 may include an on-board heat sensor, smoke sensor, and other typesof sensors, that are capable of monitoring the conditions of theproperty in parallel with the sensors 132 and/or the appliances 134. Insuch implementations, once the drone device 120 detects a presentemergency condition based on its collected on-board data, acommunication signal indicating the detected emergency condition can betransmitted to the monitor control unit 110, the user devices 140, 150,and/or the central monitoring station 160.

The process 200 may include obtaining data associated with the property(220). For instance, the drone device 120 may obtain data from thecomponents of the system 100 that indicate present conditions within theproperty. For instance, as described above, the obtained data mayinclude sensor data collected by the sensors 132 (e.g., motion detectionevents, changes in ambient temperature, etc.), operation data associatedwith the appliances 134 (e.g., recently applied device settings, lasttime point of usage, etc.), among other types of property-related data.

In some implementations, in response to obtaining data indicating apresent emergency condition within the property, the drone device 120may quickly survey regions of the property to identify any riskconditions and/or obstructions that may endanger the user that presentlyresides within the property. For example, the drone device 120 maynavigate to all known entrances/exits of the property to ensure that theuser is able to safely exit through the property.

The process 200 may include obtaining data indicating a location of auser of the property (230). For instance, the drone device may obtainlocation data from the user device 140 indicating a location of the userwithin the property. In some instances, the drone device 120 maydetermine a location of the user based on exchanging short-rangecommunications with a user device associated with the user (e.g.,Bluetooth, near-field communication, infrared communication, etc.). Forexample, the drone device 120 may ping the user device 140 in order toidentify a location of the user device 140, which can then be used toidentify an associated location of the user.

In other instances, the drone device 120 may also determine a locationof the user based on identifying a last known location of the user basedon sensor data collected by the sensors 132 or on-board sensors of thedrone device 120. For example, if a user was last detected in a bedroom,the drone device 120 may navigate to the bedroom and then determine ifthe user is presently located in the last known location. In otherinstances, the drone device 120 may use a combination of techniquesdescribed above as well as visual scanning techniques to identify alocation of the user. For example, the drone device 120 may scan regionsof the property to identify a location where a user is detected.

In some instances, the drone device 120 may predict that a userpresently occupies a property based on prior user activity data eventhough he/she has actually left the property. In such instances, thedrone device 120 may initially navigate to the last known locationassociated with the user indicated by the user activity data. The dronedevice 120 may then perform a surveying operation to search for the userin other regions of the property. Alternatively, the drone device 120,upon being unable to identify the user within the property, may alsoinitiate communications with the user devices 140, 150 that wererecently detected within the property. In other instances, the dronedevice 120 may initiate communications with an authorized caretakerand/or an emergency contact associated with the user to verify that theuser has actually left the property.

The process 200 may include determining a path to the user and an exitpath to guide the user outside the property (240). For instance, asdescribed above, the drone device 120 may initially survey the propertyto determine if there are any regions/locations of the property withobstructions that may impede the user's movement through the property.The drone device 120 may then determine a path to the user and an exitpath that avoids the identified obstructions. In some implementations,the drone device 120 may identify different alternative paths betweentwo locations of the property using stored navigation and/ortopographical data associated with the property.

For example, for a path to the user, the drone device may determinealternative paths between a starting point represented by an initiallocation of the drone device 120 and an ending point represented by thelocation of the user within the property. In another example, for anexit path, the drone device may determine alternative paths between astarting point represented by the location of the user within theproperty and an ending point represented by an exit to the outside ofthe property. Examples of alternative exit paths are depicted in FIG. 3.

The process 200 may include navigating the path to the user and the exitpath (250). For instance, after determining the path to the user and theexit path to guide the user outside the property, the drone device 120may navigate between the starting point and the ending point of eachpath along a particular pathway. As described above, the particularpathway for each path may be selected to avoid detected obstructionsthat may impede the user's movement and/or the movement of the dronedevice 120 between the starting point and the ending point of thecorresponding path.

In some implementations, the drone device 120 may include various userinteraction or assistance features for helping the user to navigatethrough the property along the exit path. For instance, the drone device120 may include a flash light that illuminates the pathway along theexit path when the property loses power or there is limited visibilityalong the pathway. In other instances, the drone device 120 may provideinstructions that inform the user to make certain movements to improvethe speed of navigation along the exit path. For example, the dronedevice 120 may provide information relating to the location ofobstructions relative to the location of the user, the region of theproperty where the user is presently located, among others. In otherinstances, the drone device 120 may accept various types of user inputfrom the user (e.g., speech queries, text queries, etc.) and thenperform real-time actions responsive to the received user input. Forexample, the drone device 120 may enable the user to place voice orvideo calls to emergency contacts, transmit alert notifications to firstresponders and/or law enforcement agencies, or request informationrelated to the current condition of the property.

FIG. 3 illustrates a top view of a property 310 where the drone device120 navigates to a path to a user 102 and an exit path during anemergency condition within the property 310. In the example depicted,the system 100 detects a fire within the property 310. Data indicatingthe detected fire is then transmitted to the drone device 120. The dronedevice 120 then proceeds to execute the following steps: (1) obtainingdata indicating a detected emergency condition within the property 310,(2) obtaining data associated with the property 310, (3) obtaining dataindicating a location of the user 102, (4) determining a path to theuser 102 and an exit path to guide the user outside the property 310,and (5) navigating the path to the user and the exit path.

Referring now to the example depicted in the figure, at step (1), thedrone device 120 initially obtains an alert notification 302 indicatingthat a fire condition has been detected at the property 310. Asdescribed above, this emergency condition may be detected based on datacollected by one or more of the sensors 132 indicating excessive heat orsmoke produced within the property 310. Additionally, or alternatively,sensor data can also be collected by on-board sensors of the dronedevice 120. In such implementations, the drone device 120 can alsodetect the emergency condition and notify the monitor control unit 110and/or the central monitoring station 160 of the detected alarmcondition.

At step (2), the drone device 120 uses various types of data to assistthe user 102 during an emergency condition detected within the property310. As depicted, the drone device 120 may obtain property data 304,which includes information about a number of users that presently occupythe property 310 when the emergency condition is detected at theproperty 310, and a set of identified obstructions within the property.As described above, in some implementations, drone device 120 mayidentify the obstructions based on data collected by the sensors 132. Inother implementations, the drone device 120 can instead identify theobstructions based on an initial surveying operation in response toreceiving the alert notification 302 indicating the detected emergencycondition within the property 310. In other implementations, acombination of techniques may be used to identify the obstructionswithin the property 310.

In the example depicted in the figure, the obtained property data 304indicates that there is one user that is currently inside the propertyand that the user was last detected to be upstairs two minutes ago. Theproperty data 304 also indicates that three obstructions have beendetected within the property (e.g., in the den, at the front door, andin the kitchen). These obstructions resulted from property damage causedby the fire detected within the property 310.

At step (3), the drone device 120 obtains data indicating the locationof the user 102 that is presently located within the property. Asdescribed above, in some implementations, the location of the user 102is determined based on motion or presence data collected by the sensors132. In such implementations, the location of the user 102 is determinedbased on sensor data indicating the last known or detected location ofthe user 102 by the sensors 132. In other implementations, the locationof the user 102 may be determined inferentially based on the location ofan associated user device (e.g., the user device 140). In suchimplementations, the drone device 120 may ping the user device 140 usingany suitable wireless communication protocol (e.g., Bluetooth, IR, NFC,etc.) to identify its location. In other implementations, a combinationof techniques may be used to identify different candidate locationswithin the property 310 where the user 102 may be located.

At step (4), the drone device 120 determines a path to the user 102 andan exit path to guide the user 102 outside the property 310. Asdescribed above, for each path, the drone device 120 initiallyidentifies a starting and an exit point, computes one or more pathwaysbetween the starting and exiting point, and then computes a set of pathmetrics, which are represented in path data 306. In someimplementations, as depicted in the figure, the drone device 120 maycompute alternative paths as well as alternative pathways for aparticular path.

In the example depicted in the figure, the drone device 120 calculatesalternative exit paths, denoted as “A,” “B,” “C1,” and “C2,” which areeach defined by unique pathways from a shared starting point (e.g., theidentified location of the user 102 within the property 310) anddivergent exiting points (e.g., through the front door 316, the backdoor 312, and the back door 314). The path data 306 includes a set ofpath metrics such as a distance of the exit path, and an estimated totime for the user 102 to navigate to the outside of the property. Inother implementations, other path metrics such as pathway difficulty mayalso be calculated by the drone device 120.

Once the drone device 120 computes the alternative paths and pathmetrics for each alternative path, the drone device 120 then selects aparticular path as the exit path to guide the user 102 outside theproperty 310. In the example, the drone device 120 selects path C2 asthe exit path based on estimating that this path will be the quickest toallow the user 102 to exit the property 310. This determination may bebased on, for example, whether a pathway of a particular route includesa detected obstruction, an overall distance of the path through theproperty, and a difficulty associated with navigating through the path.For instance, although path C2 is the longest path of all of thealternative paths, the drone device 120 estimates the shortest traveltime based on the other alternative paths having one or moreobstructions along their respective pathways. In this example, the dronedevice 120 therefore selects the path C2 as the exit path in order tohelp the user 102 avoid obstructions within the property 310 while alsoexiting the property 310 in the shortest time period.

At step (5), after the drone device 120 determines a path to the user102 and the exit path, the drone device 120 then navigates the selectedpath to the user 102 and the selected exit path. For instance, afterlocating the user 102 within the property 310, the drone device 120 thenprovides instructions to the user 102 to follow the drone device 120along the pathway of the selected exit path.

As described above, in some implementations, the drone device 120provides communication and navigational assistance to the user 102 ashe/she is navigating through the pathway of the selected exit path. Forexample, the drone device 120 can provide illumination to improve theuser's visibility along the pathway, provide audible sounds or noises todirect the user along the pathway, or provide audible or visiblemovement directions, among others. The drone device 120 may also allowthe user 102 to make video or audio calls to authorized caretakers oremergency contacts.

In some implementations, the drone device 120 may be capable ofperforming real-time path adjustments as the user is traveling along aselected exit path. The drone device 120 may perform path adjustmentbased on, for example, changing conditions within the property 101, useractivity detected along the pathway of the selected exit path, or otherdetected data indicating changed circumstances that impact the user'sability to exit the property. For example, if the drone device 120detects that the user 102 is having difficulty traversing a particularpoint of selected exit path, the drone device 120 may computealternative pathways to automatically re-route the user to avoid theparticular point where the user 102 is having difficulty. In anotherexample, if a new obstruction is detected along a pathway of a selectedexit path, the drone device 120 may repeat the path calculationtechniques described above to determine a new exit path for the user102.

In addition to assisting the user 102 to navigating along the pathway ofthe selected exit path, the drone device 120 may also perform otheractions. For example, as illustrated in the figure, the drone device 120may obtain a list 308 that specifies actions to be performedconcurrently with or after navigating the user 102 outside the property.For example, the drone device 120 transmit alert notificationsindicating the detected emergency condition to emergency responders orlaw enforcement agencies.

FIG. 4 illustrates an example of a process 400 for determining a path toguide a user away from an emergency condition at a property. Briefly,the process 400 can include the operations of obtaining sensor data fromone or more sensors that are located at a property (410), determiningthat there is an emergency condition at the property (420), determininga location of a person inside the property (430), determining a firstpath to the person and a second path to guide the person away from theemergency condition (440), and navigating the first path to the personand the second path to guide the person away from the emergencycondition (450).

In general, the operations of the process 400 are described below inreference to the system 100, although any property management system canbe configured to perform such operations. In some implementations, theoperations are performed by a single component of the system 100, suchas the monitor control unit 110 or the central monitoring station 160.In other implementations, the operations are performed by multiplecomponents of the system 100. For example, the monitor control unit 110can collect and process sensor data collected by the sensors 132 andprovide the processed sensor data to the central monitoring station 160,when determines that an emergency condition has taken place in theproperty. In response, the drone device 120 can then identify a locationof the user within the property, identify a suitable exit path fornavigating the user to an exit of the property during the emergencycondition, and navigate to the user through the exit path.

In more detail, the process 400 can include the operation of obtainingsensor data from one or more sensors that are located at a property(410). For example, the system 100 can obtain sensor data collected bythe sensors 132 that are located in a property that is monitored by thesystem 100. As discussed above, the sensor data can include varioustypes of property data that can be used to determine a present conditionof the property. In the example depicted in FIG. 3, the sensor dataincludes ambient temperature and occupancy data of the property 310. Thesensor data can also indicate the operating status and/or configurationsof devices and/or property features, e.g., whether doors/windows of theproperty 310 are open or closed, or devices that are turned on or off.

The process 400 can include the operation of determining that there isan emergency condition at the property (420). For example, the system100 can determine that there is an emergency condition at the propertybased on the sensor data. As discussed above, the emergency conditioncan represent a fire detected within the property, or any other propertycondition that is hazardous to users located within the property and mayrequire exiting the property. In the example depicted in FIG. 3, thesystem 100 determines that there is a fire in the property 310 based onsensor data collected by the sensors 132, which indicates an abnormallyhigh ambient temperature within the property, e.g., 98 degreesFahrenheit.

The process 400 can include the operation of determining a location of aperson inside the property (430). For example, the system 100 candetermine a location of the user within the property in response todetermining that there is an emergency condition at the property. Thelocation of the user can be determined based on the sensor data. In theexample depicted in FIG. 3, the location of the user 102 within theproperty 310 is determined based on occupancy data specifying a lastknown location of the user 102 within the property data 304. In someother instances, the location of the user 102 within the property 310can be determined based on monitoring a signal associated with a deviceof the user 102, such as the mobile device 140.

The process 400 can include the operation of determining a first path tothe person and a second path to guide the user away from the emergencycondition (440). For instance, in the example depicted in FIG. 3, thedrone device 130 can determines a first path to the user 102 and asecond path to guide the user 102 toward an exit of the property 310. Asdiscussed above, the first and second paths can be determined based onthe sensor data collected by the sensors 132, the location of the user102 inside the property 310, and based on characteristics of theproperty 310. The characteristics of the property 310 can be identifiedbased on a three-dimensional spatial model of the property 310 thatspecifies locations of property features such as windows, doors,entrances, hallways, rooms, among others.

The first and second paths can be determined to reduce the time neededto navigate the user 102 out of the property 310 and/or minimize safetyrisks associated with navigation. For example, the drone device 130 canidentify multiple candidate paths to the user 102 and multiple candidateexit paths to an exit of the property 310. In such examples, the dronedevice 130 selects a suitable path from among the multiple candidatepaths based on computed path metrics. As discussed above, the pathmetrics can represent a time needed for the drone device 130 and/or theuser 102 to navigate a certain path, a distance of the certain path, anumber of obstructions detected along or nearby the certain path, amongother features.

As depicted in FIG. 3, the system 100 can determine multiple candidateexit paths for navigating the user away from a detected emergencycondition at a property. In the example depicted in FIG. 3, the system100 obtains sensor data collected by the sensors 132 that collectivelyrepresent a physical environment of the property during a detectedemergency condition. For instance, the property data 304 can include athree-dimensional spatial model of the property 310 that identifieslocations of doors, windows, and other exit points through which theuser 102 can exit the property 310. In this example, the system 100determines the second path to guide the person away from the emergencycondition by initially generating path data 306. The path data 306includes multiple candidate exit paths A, B, C1, and C2, which areidentified based on the physical environment of the property during theemergency condition. The system 100 determines one or more path metricsassociated with each of the multiple candidate exit paths A, B, C1, andC2, such a distance to an exit point of the property 310, and anestimated time point for navigating each path. The system 100 selectsone of the candidate exit paths as the second path based on thedetermined path metrics. For instance, in the example depicted in FIG.3, the system 100 selects candidate exit path C2 because it isdetermined to have a path metric that represents the shortest time tonavigate to an exit of the property 310.

In some instances, each of the multiple candidate exit paths lead to asame exit path of a property. In the example depicted in FIG. 3,candidate exit paths C1 and C2 both lead to back door 314 of theproperty 310. In other instances, each of the multiple candidate exitpaths lead to a same exit path of a property. For example, as depictedin FIG. 3, candidate exit path A leads to front door 316 of the propertywhereas candidate exit path B leads to back door 312 of the property310.

As discussed above, the system 100 can determine various path metricsthat represent attributes of exit paths to navigate a user to an exit ofa property. As one example, the system 100 determines one type of pathmetric that represents a distance of a candidate exit path, e.g., adistance from a location of a user within the property and an exitthrough which the user can vacate the property. In some instances, thesystem 100 selects a particular candidate path that has the smallestdistance from among the multiple candidate exit paths as the second pathto guide the person away from the emergency condition.

As another example, the system 100 can determine another type of pathmetric that represents a number of obstructions detected along aparticular candidate exit path, e.g., objects detected along or nearbyan exit path that may prevent a user from navigating the path to adesignated exit. In some instances, the system 100 selects a particularcandidate path that has the smallest number of detected o obstructionsfrom among the multiple candidate exit paths as the second path to guidethe person away from the emergency condition.

As yet another example, the system determines another type of patchmetric that represents an estimated time to exit the property bynavigating a particular candidate exit path. In some instances, thesystem 100 selects a particular candidate path that has the smallestestimated time to exit the property by navigating the selected candidateexit path.

As discussed above, the system 100 can select the second path tomaximize the safety of the user even if different path metrics providesomewhat conflicting information. For example, as shown in FIG. 3, thesystem 100 selects the candidate exit path C2 as the second path overthe candidate exit path C1 even though the candidate exit path C2 has alonger distance to the back door 314. In this example, the system 100selects the longer exit path because the candidate exit path C1 has asmaller number of detected obstacles along it, which the system 100predicts will take the user 102 less time to navigate to the back door314 compared to navigating along the candidate exit path C2. In anotherexample, when selecting from among the multiple candidate exit paths,the system 100 prioritizes the safety of the user regardless of the timerequired to navigate. In this example, the system 100 can determine aseverity associated with a detected obstruction along a candidate exitpath, and for instance, avoid selecting candidate exit paths that havesevere obstructions, e.g., fires, broken structures, debris, or otherobstructions that may pose safety risks to the user along the candidateexit path. In this example, the system 100 can select a particularcandidate exit path as the second path even though it's not the shortestpath or the path with the lowest number of obstructions if it providesthe safest passage to an exit of the property.

In some implementations, the first path to the location of theindividual inside the property represents a path that can only benavigated by the drone device 120, and the second path to direct theuser away from the emergency condition is a path that is safe for theuser. For example, the first path can be a shortcut that allows thedrone device to reach the user in the shortest period of time to provideemergency assistance if the user is in distress. In suchimplementations, the drone device can, for instance, navigate throughthe first path through small openings.

The process 400 can include the operation of navigating the first pathto the person and the second path to guide the person away from theemergency condition (450). For instance, in the example depicted in FIG.3, the drone device 130 navigates the first path to the user 102 and thesecond path to guide the user 102 away from the emergency conditiontoward an exit of the property 310. As discussed above, the first andsecond paths can be determined based on selecting suitable paths frommultiple candidate paths.

The described systems, methods, and techniques may be implemented indigital electronic circuitry, computer hardware, firmware, software, orin combinations of these elements. Apparatus implementing thesetechniques may include appropriate input and output devices, a computerprocessor, and a computer program product tangibly embodied in amachine-readable storage device for execution by a programmableprocessor. A process implementing these techniques may be performed by aprogrammable processor executing a program of instructions to performdesired functions by operating on input data and generating appropriateoutput.

The techniques may be implemented in one or more computer programs thatare executable on a programmable system including at least oneprogrammable processor coupled to receive data and instructions from,and to transmit data and instructions to, a data storage system, atleast one input device, and at least one output device. Each computerprogram may be implemented in a high-level procedural or object-orientedprogramming language, or in assembly or machine language if desired; andin any case, the language may be a compiled or interpreted language.Suitable processors include, by way of example, both general and specialpurpose microprocessors. Generally, a processor will receiveinstructions and data from a read-only memory and/or a random accessmemory. Storage devices suitable for tangibly embodying computer programinstructions and data include all forms of non-volatile memory,including by way of example semiconductor memory devices, such asErasable Programmable Read-Only Memory (EPROM), Electrically ErasableProgrammable Read-Only Memory (EEPROM), and flash memory devices;magnetic disks such as internal hard disks and removable disks;magneto-optical disks; and Compact Disc Read-Only Memory (CD-ROM). Anyof the foregoing may be supplemented by, or incorporated in, speciallydesigned application-specific integrated circuits (ASICs).

It will be understood that various modifications may be made. Forexample, other useful implementations could be achieved if steps of thedisclosed techniques were performed in a different order and/or ifcomponents in the disclosed systems were combined in a different mannerand/or replaced or supplemented by other components. Accordingly, otherimplementations are within the scope of the disclosure.

What is claimed is:
 1. A monitoring system comprising: one or moresensors that are located through a property; a monitor control unit thatis configured to: obtain sensor data from the one or more sensors,wherein the sensor data represents a physical environment of theproperty; based on the sensor data, determine that there is an emergencycondition at the property; in response to determining that there is anemergency condition at the property, determine, based on the sensordata, a location of a person inside the property; and based on thesensor data, the location of the person inside the property, and oncharacteristics of the property: determine a first path to the person;identify multiple candidate exit paths based on the physical environmentof the property during the emergency condition; for each of the multiplecandidate exit paths, determine (i) a respective number of obstructionsdetected along a particular candidate exit path, and (ii) respectivedistance the particular candidate exit path; select, from among themultiple candidate exit paths, a candidate exit path based on thenumbers of obstructions detected along the multiple candidate exit pathsand the distances of the multiple candidate exit paths; and determine asecond path to guide the person away from the emergency condition basedon the selected candidate exit path; and a drone that is configured to:receive data identifying the first path to the person and the secondpath to guide the person away from the emergency condition; and navigatethe first path to the person and the second path to guide the personaway from the emergency condition.
 2. The system of claim 1, wherein:the monitor control unit is configured to determine one or more pathmetrics associated with each of the multiple candidate exit paths. 3.The system of claim 1, wherein each of the multiple candidate exit pathslead to a same exit of the property.
 4. The system of claim 2, wherein:the monitor control unit is configured to determine the one or more pathmetrics by determining a path metric representing a distance of acandidate exit path; and the monitor control unit is configured toselect the particular candidate exit path from among the multiplecandidate exit paths as the second path by selecting the particularcandidate exit path that has a smallest distance from among the multiplecandidate exit paths.
 5. The system of claim 2, wherein: the monitorcontrol unit is configured to determine the one or more path metrics bydetermining a path metric representing a number of obstructions detectedalong a particular candidate exit path; and the selected candidate exithas a lowest number of obstructions from among the multiple candidateexit paths.
 6. The system of claim 2, wherein: the monitor control unitis configured to determine the one or more path metrics by determining apath metric representing an estimated time to exit the property bynavigating a particular candidate exit path; and the selected candidateexit path has a smallest estimated time to exit the property bynavigating the selected candidate exit path.
 7. The system of claim 2,wherein the monitor control unit is configured to: identify the multiplecandidate exit paths by identifying a first candidate exit path and asecond candidate exit path; determine the one or more path metricsassociated with each of the multiple candidate exit paths by, for eachof the first and second candidate exit paths: determining a first pathmetric representing a distance of a particular candidate exit path, anddetermining a second path metric representing a number of obstructionsdetected along a particular candidate exit path; determine that thefirst path metric for the second candidate exit path represents ashorter distance than the first path metric for the first candidate exitpath; determine that the second path metric for the first candidate exitpath represents a lower number of obstructions detected along the secondcandidate exit path than the second path metric for the second candidateexit path; and based on determining that the second path metric for thefirst candidate exit path represents a lower number of obstructionsdetected along the first candidate exit path than the second path metricfor the second candidate exit path, select the first candidate exit pathas the second path to guide the person away from the emergencycondition.
 8. The system of claim 2, wherein the monitor control unit isconfigured to: identify the multiple candidate exit paths by identifyinga first candidate exit path and a second candidate exit path; determinethe one or more path metrics associated with each of the multiplecandidate exit paths by, for each of the first and second candidate exitpaths: determining a first path metric representing a distance of aparticular candidate exit path, and determining a second path metricrepresenting a number of obstructions detected along a particularcandidate exit path; determining a third path metric representing anestimated time to exit the property by navigating a particular candidateexit path; determine that the first path metric for the second candidateexit path represents a shorter distance than the first path metric forthe first candidate exit path; determine that the second path metric forthe first candidate exit path represents a lower number of obstructionsdetected along the second candidate exit path than the second pathmetric for the second candidate exit path; determine that the third pathmetric for the first candidate exit path represents a shorter estimatedtime to exit the property by navigating the first candidate exit paththan the third path metric for the second candidate exit path; andselect the first candidate exit path as the second path to guide theperson away from the emergency condition based on (i) determining thatthe second path metric for the first candidate exit path represents alower number of obstructions detected along the first candidate exitpath than the second path metric for the second candidate exit path and(ii) determining that the third path metric for the first candidate exitpath represents a shorter estimated time to exit the property bynavigating the first candidate exit path than the third path metric forthe second candidate exit path.
 9. The system of claim 1, wherein themonitor control unit is configured to: determine that the first path isnot safe for the person to navigate during the emergency condition; anddetermine that the second path is safe for the person to navigate duringthe emergency condition.
 10. The system of claim 1, wherein the drone isconfigured to: determine the characteristics of the property based on athree-dimensional spatial representation of the property, thethree-dimensional spatial representation of the property identifying atleast locations of doors of the property and locations of windows of theproperty.
 11. A method comprising: obtaining, by a monitoring systemthat is configured to monitor a property, sensor data from one or moresensors that are located at the property, wherein the sensor datarepresents a physical environment of the property; based on the sensordata, determining, by the monitoring system, that there is an emergencycondition at the property; in response to determining that there is anemergency condition at the property, determining, by the monitoringsystem and based on the sensor data, a location of a person inside theproperty; based on the sensor data, the location of the person insidethe property, and on characteristics of the property: determining, bythe monitoring system, a first path to the person; identifying, by themonitoring system, multiple candidate exit paths based on the physicalenvironment of the property during the emergency condition; for each ofthe multiple candidate exit paths, determining, by the monitoringsystem, (i) a respective number of obstructions detected along aparticular candidate exit path, and (ii) respective distance theparticular candidate exit path; selecting, by the monitoring system andfrom among the multiple candidate exit paths, a candidate exit pathbased on the numbers of obstructions detected along the multiplecandidate exit paths and the distances of the multiple candidate exitpaths; and determining, by the monitoring system, a second path to guidethe person away from the emergency condition based on the selectedcandidate exit path; and navigating, by a computing device of themonitoring system, the first path to the person and the second path toguide the person away from the emergency condition.
 12. The method ofclaim 11, wherein: determining the second path to guide the person awayfrom the emergency condition comprises determining one or more pathmetrics associated with each of the multiple candidate exit paths. 13.The method of claim 10, wherein each of the multiple candidate exitpaths lead to a same exit of the property.
 14. The method of claim 12,wherein: determining the one or more path metrics comprises determininga path metric representing a distance of a candidate exit path; and theselected candidate exit path has the smallest distance from among themultiple candidate exit paths.
 15. The method of claim 12, wherein:determining the one or more path metrics comprises determining a pathmetric representing a number of obstructions detected along a particularcandidate exit path; and the selected candidate exit has the lowestnumber of obstructions from among the multiple candidate exit paths. 16.The method of claim 12, wherein: determining the one or more pathmetrics comprises determining a path metric representing an estimatedtime to exit the property by navigating a particular candidate exitpath; and the selected candidate exit path has the smallest estimatedtime to exit the property by navigating the selected candidate exitpath.
 17. The method of claim 12, wherein: identifying the multiplecandidate exit paths by identifying a first candidate exit path and asecond candidate exit path; determining the one or more path metricsassociated with each of the multiple candidate exit paths by, for eachof the first and second candidate exit paths: determining a first pathmetric representing a distance of a particular candidate exit path, anddetermining a second path metric representing a number of obstructionsdetected along a particular candidate exit path; determining that thefirst path metric for the second candidate exit path represents ashorter distance than the first path metric for the first candidate exitpath; determining that the second path metric for the first candidateexit path represents a lower number of obstructions detected along thesecond candidate exit path than the second path metric for the secondcandidate exit path; and based on determining that the second pathmetric for the first candidate exit path represents a lower number ofobstructions detected along the first candidate exit path than thesecond path metric for the second candidate exit path, selecting thefirst candidate exit path as the second path to guide the person awayfrom the emergency condition.
 18. The method of claim 12, wherein:identifying the multiple candidate exit paths by identifying a firstcandidate exit path and a second candidate exit path; determining theone or more path metrics associated with each of the multiple candidateexit paths by, for each of the first and second candidate exit paths:determining a first path metric representing a distance of a particularcandidate exit path, and determining a second path metric representing anumber of obstructions detected along a particular candidate exit path;determining a third path metric representing an estimated time to exitthe property by navigating a particular candidate exit path; determiningthat the first path metric for the second candidate exit path representsa shorter distance than the first path metric for the first candidateexit path; determining that the second path metric for the firstcandidate exit path represents a lower number of obstructions detectedalong the second candidate exit path than the second path metric for thesecond candidate exit path; determining that the third path metric forthe first candidate exit path represents a shorter estimated time toexit the property by navigating the first candidate exit path than thethird path metric for the second candidate exit path; and selecting thefirst candidate exit path as the second path to guide the person awayfrom the emergency condition based on (i) determining that the secondpath metric for the first candidate exit path represents a lower numberof obstructions detected along the first candidate exit path than thesecond path metric for the second candidate exit path and (ii)determining that the third path metric for the first candidate exit pathrepresents a shorter estimated time to exit the property by navigatingthe first candidate exit path than the third path metric for the secondcandidate exit path.
 19. The method of claim 11, wherein the computingdevice is a drone device.
 20. The method of claim 11, furthercomprising: determining the characteristics of the property based on athree-dimensional spatial representation of the property, thethree-dimensional spatial representation of the property identifying atleast locations of doors of the property and locations of windows of theproperty.